pushes

Author: Bi1ku

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/auton/Push.java

@@ -6,7 +6,7 @@
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 
 import org.firstinspires.ftc.teamcode.CommandRobot;
-import org.firstinspires.ftc.teamcode.opmodes.auton.trajectories.SpecFourTrajectories;
+import org.firstinspires.ftc.teamcode.opmodes.auton.trajectories.SpecFiveTrajectories;
 import org.firstinspires.ftc.teamcode.utils.commands.OpModeCore;
 import org.firstinspires.ftc.teamcode.utils.commands.PathChainCommand;
 import org.firstinspires.ftc.teamcode.utils.commands.PathCommand;
@@ -15,13 +15,13 @@
 @Autonomous(name = "Push", preselectTeleOp = "Main")
 public class Push extends OpModeCore {
     private CommandRobot robot;
-    private SpecFourTrajectories trajectories;
+    private SpecFiveTrajectories trajectories;
 
-    public static double SPEED = 0.65;
+    public static double SPEED = 0.85;
 
     @Override
     public void initialize() {
-        this.trajectories = new SpecFourTrajectories();
+        this.trajectories = new SpecFiveTrajectories();
 
         this.robot = new CommandRobot(super.hardwareMap, this.trajectories.getStart());
     }
@@ -33,10 +33,10 @@ public void runOpMode() {
 
         super.waitForStart();
 
+        this.robot.startAutoThreads(this);
         CommandScheduler.getInstance().schedule(
                 new SequentialCommandGroup(
                         new PathCommand(this.robot, this.trajectories.scorePreload, SPEED),
-                        new PathCommand(this.robot, this.trajectories.backFirst, SPEED),
                         new PathChainCommand(this.robot, SPEED, this.trajectories.setupTop, this.trajectories.pushTop),
                         new PathChainCommand(this.robot, SPEED, this.trajectories.setupMid, this.trajectories.pushMid),
                         new PathChainCommand(this.robot, SPEED, this.trajectories.setupBottom, this.trajectories.pushBottom),

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/auton/trajectories/positions/spec5.pp

@@ -36,7 +36,7 @@
 },
 {
   "endPoint": {
-  "x": 55,
+  "x": 35,
   "y": 24,
   "heading": "linear",
   "reverse": false,
@@ -69,7 +69,7 @@
 },
 {
   "endPoint": {
-  "x": 10,
+  "x": 12,
   "y": 24,
   "heading": "linear",
   "reverse": false,
@@ -83,7 +83,7 @@
 },
 {
   "endPoint": {
-  "x": 55,
+  "x": 35,
   "y": 14,
   "heading": "linear",
   "reverse": false,
@@ -94,8 +94,8 @@
 },
 "controlPoints": [
   {
-    "x": 50,
-    "y": 30,
+    "x": 35.44615384615385,
+    "y": 21.876923076923077,
     "name": "setupMidControl",
     "index": 10
   }
@@ -104,7 +104,7 @@
 },
 {
   "endPoint": {
-  "x": 10,
+  "x": 12,
   "y": 14,
   "heading": "linear",
   "reverse": false,
@@ -118,7 +118,7 @@
 },
 {
   "endPoint": {
-  "x": 55,
+  "x": 35,
   "y": 8,
   "heading": "linear",
   "reverse": false,
@@ -129,8 +129,8 @@
 },
 "controlPoints": [
   {
-    "x": 50,
-    "y": 20,
+    "x": 30.184615384615384,
+    "y": 15.5076923076923,
     "name": "setupBottomControl",
     "index": 13
   }
@@ -139,7 +139,7 @@
 },
 {
   "endPoint": {
-  "x": 10,
+  "x": 12,
   "y": 8,
   "heading": "linear",
   "reverse": false,
@@ -164,8 +164,8 @@
 },
 "controlPoints": [
   {
-    "x": 13,
-    "y": 28,
+    "x": 9.415384615384616,
+    "y": 25.476923076923082,
     "name": "intakeSecondControl",
     "index": 16
   }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/constants/FConstants.java

@@ -20,11 +20,11 @@ public class FConstants {
 
         FollowerConstants.mass = 13.6624119;
 
-        FollowerConstants.xMovement = 76.7707208203;
-        FollowerConstants.yMovement = 55.8087879721;
+        FollowerConstants.xMovement = (75.2569081094134 + 74.47634687810753 + 74.84969114793611 + 74.01989389575301 + 74.68117853957257) / 5;
+        FollowerConstants.yMovement = (51.77359773633608 + 53.33455812427246 + 53.652753295638455 + 54.03180225796051 + 53.616598478594426) / 5;
 
-        FollowerConstants.forwardZeroPowerAcceleration = -30.5185286985;
-        FollowerConstants.lateralZeroPowerAcceleration = (-68.58553139679148 + -62.01537998014073 + -58.74530456630615 + -58.99171962162261 + -63.33852005910229) / 5;
+        FollowerConstants.forwardZeroPowerAcceleration = (-38.15282509154116 + -35.12614067085665 + -34.761979425838284 + -36.43672311260459 + -32.34119403044195) / 5;
+        FollowerConstants.lateralZeroPowerAcceleration = (-65.24094299732764 + -61.25281822719174 + -65.89813061019508 + -64.45869003996229 + -66.29473846726256) / 5;
 
         FollowerConstants.translationalPIDFCoefficients.setCoefficients(0.35, 0, 0.02, 0);
         FollowerConstants.useSecondaryTranslationalPID = true;